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Dr. Erdal Pekel

Ihr Partner für Robotik und Simulation

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Dr. Erdal Pekel

Ihr Partner für Robotik und Simulation

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Dr. Erdal Pekel

Ihr Partner für Robotik und Simulation

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Category: Uncategorized

February 29, 2020March 20, 2020Uncategorized

Improving Panda Gazebo integration with Position based Control

In this post we will alter the integration by replacing the effort controllers with joint position based controllers and thereby improve the stability of the robot during trajectory execution. We will also fix issues when starting the robot in Gazebo where it gets initialized with invalid joint angles by implementing a custom controller that commands the joints to fixed state.

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